src/robofsm/common-states.cc

   1 #define FSM_MAIN
   2 #include <robodata.h>
   3 #include <robot.h>
   4 #include <fsm.h>
   5 #include <unistd.h>
   6 #include <math.h>
   7 #include <movehelper.h>
   8 #include <map.h>
   9 #include <sharp.h>
  10 #include <robomath.h>
  11 #include <string.h>
  12 #include <robodim.h>
  13 #include <error.h>
  14 #include "corns_configs.h"
  15 #include "actuators.h"
  16 #include <trgen.h>
  17 #include "match-timing.h"
  18 #include "eb2010misc.h"
  19 #include <stdbool.h>
  20
  21 #include "common-states.h"
  22
  23 /************************************************************************
  24  * Functions used in and called from all the (almost identical)
  25  * "wait for start" states in particular strategies.
  26  ************************************************************************/
  27
  28 #undef DBG_FSM_STATE
  29 #define DBG_FSM_STATE(name)     do { if (fsm->debug_states) printf("fsm %s %.1f: %s(%s)\n", \
  30                                                                    fsm->debug_name, robot_current_time(), \
  31                                                                    name, fsm_event_str(fsm->events[fsm->ev_head])); } while(0)
  32
  33
  34 static void set_initial_position()
  35 {
  36         robot_set_est_pos_trans(ROBOT_AXIS_TO_FRONT_M,
  37                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2),
  38                                 DEG2RAD(180));
  39 }
  40
  41 static void actuators_home()
  42 {
  43         static int tmp = 0;
  44         act_vidle(VIDLE_UP - tmp, VIDLE_FAST_SPEED);
  45         tmp = 1 - tmp;          // Force movement (we need to change the target position)
  46 }
  47
  48 void start_entry()
  49 {
  50         pthread_t thid;
  51         robot.check_turn_safety = false;
  52         pthread_create(&thid, NULL, timing_thread, NULL);
  53         start_timer();
  54         act_camera_on();
  55 }
  56
  57 // We set initial position periodically in order for it to be updated
  58 // on the display if the team color is changed during waiting for
  59 // start.
  60 void start_timer()
  61 {
  62         set_initial_position();
  63         if (robot.start_state == START_PLUGGED_IN)
  64                 actuators_home();
  65 }
  66
  67 void start_go()
  68 {
  69         sem_post(&robot.start);
  70         actuators_home();
  71         set_initial_position();
  72 }
  73
  74 void start_exit()
  75 {
  76         robot.corns = get_all_corns(robot.corns_conf_side, robot.corns_conf_center);
  77         act_camera_off();
  78 }
  79
  80 /************************************************************************
  81  * Trajectory constraints used; They are  initialized in the main() function in competition.cc
  82  ************************************************************************/
  83
  84 struct TrajectoryConstraints tcFast, tcSlow, tcVerySlow;
  85
  86 #define VIDLE_TIMEOUT 2000
  87
  88 /************************************************************************
  89  * States that form the "collect some oranges" subautomaton. Calling automaton
  90  * SHOULD ALWAYS call the "approach_the_slope" state.
  91  ************************************************************************/
  92
  93 bool inline is_ready_to_climb_the_slope(enum which_side which_slope, double x, double y) {
  94         bool ret;
  95         if (which_slope == MINE) {
  96                 ret = x < 0.5 && y > PLAYGROUND_HEIGHT_M - 0.5;
  97         } else if (which_slope == OPPONENTS) {
  98                 ret = x > 0.5 && y > PLAYGROUND_HEIGHT_M - 0.5;
  99         } else {
 100                 printf("ERROR: unknown side;");
 101 #warning Remove the next line
 102                 robot_exit();
 103         }
 104         return ret;
 105 }
 106
 107 static struct slope_approach_style *slope_approach_style_p;
 108
 109 /* assures that the robot is near the slope rim; if outside our starting area, approach the slope first */
 110 FSM_STATE(approach_the_slope)
 111 {
 112         switch(FSM_EVENT) {
 113                 case EV_ENTRY: {
 114                                 slope_approach_style_p = (struct slope_approach_style *) FSM_EVENT_PTR;
 115                                 if (slope_approach_style_p == NULL) {
 116                                         printf("\n\nit is not allowed to call the approach_the_slope state  with NULL data!!\n\n");
 117 #warning remove the next line
 118                                         robot_exit();
 119                                 }
 120                                 double x, y, phi;
 121                                 robot_get_est_pos_trans(&x, &y, &phi);
 122                                 /* decide */
 123                                 bool ready_to_climb_the_slope = is_ready_to_climb_the_slope(slope_approach_style_p->which_side, x, y);
 124                                 /* if necessary, approach the slope */
 125                                 if (ready_to_climb_the_slope) {
 126                                         FSM_TRANSITION(climb_the_slope);
 127                                 } else {
 128                                         robot_goto_trans(
 129                                                 x_coord(0.3, slope_approach_style_p->which_side),
 130                                                 PLAYGROUND_HEIGHT_M - ROBOT_WIDTH_M/2 - 0.03,
 131                                                 ARRIVE_FROM(DEG2RAD(0), 0.02),
 132                                                 &tcFast);
 133                                 }
 134                                 break;
 135                         }
 136                 case EV_MOTION_DONE:
 137                         FSM_TRANSITION(climb_the_slope);
 138                         break;
 139                 case EV_START:
 140                 case EV_TIMER:
 141                 case EV_RETURN:
 142                 case EV_VIDLE_DONE:
 143                 case EV_MOTION_ERROR:
 144                 case EV_SWITCH_STRATEGY:
 145                         DBG_PRINT_EVENT("unhandled event");
 146                 case EV_EXIT:
 147                         break;
 148         }
 149 }
 150
 151 void inline enable_switches(bool enabled)
 152 {
 153         robot.use_left_switch = enabled;
 154         robot.use_right_switch = enabled;
 155         robot.use_back_switch = enabled;
 156 }
 157
 158 FSM_STATE(climb_the_slope)
 159 {
 160         struct TrajectoryConstraints tc;
 161         switch(FSM_EVENT) {
 162                 case EV_ENTRY: {
 163                                 // disables using side switches on bumpers when going up
 164                                 enable_switches(false);
 165                                 robot.ignore_hokuyo = true;
 166                                 /* create the trajectory and go */
 167                                 tc = tcSlow;
 168                                 tc.maxacc = 0.4;
 169                                 robot_trajectory_new_backward(&tc);
 170                                 if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 171                                         act_vidle(VIDLE_LOAD_PREPARE, 5);
 172                                         robot_trajectory_add_point_trans(
 173                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 174                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01);
 175                                         robot_trajectory_add_final_point_trans(
 176                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 177                                                 PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) +0.01,
 178                                                 NO_TURN());
 179                                 } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 180                                         FSM_TIMER(3500);
 181                                         robot_trajectory_add_point_trans(
 182                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 183                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85));
 184                                         robot_trajectory_add_final_point_trans(
 185                                                 x_coord(SLOPE_TO_RIM_M + SLOPE_LENGTH_M - ROBOT_AXIS_TO_BACK_M + 0.07, slope_approach_style_p->which_side),
 186                                                 1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) + 0.01 - 1.85),
 187                                                 NO_TURN());
 188                                 }
 189                                 break;
 190                         }
 191                 case EV_MOTION_DONE:
 192                         SUBFSM_TRANSITION(load_oranges, NULL);
 193                         break;
 194                 case EV_RETURN:
 195                         FSM_TRANSITION(sledge_down);
 196                         break;
 197                 case EV_TIMER:
 198                         act_vidle(VIDLE_LOAD_PREPARE, 10);
 199                         break;
 200                 case EV_START:
 201                 case EV_VIDLE_DONE:
 202                 case EV_MOTION_ERROR:
 203                 case EV_SWITCH_STRATEGY:
 204                         DBG_PRINT_EVENT("unhandled event");
 205                 case EV_EXIT:
 206                         break;
 207         }
 208 }
 209
 210 /* subautomaton to load oranges in two stages */
 211 FSM_STATE_DECL(load_oranges2);
 212 FSM_STATE_DECL(load_oranges3);
 213 FSM_STATE(load_oranges)
 214 {
 215         switch(FSM_EVENT) {
 216                 case EV_ENTRY:
 217                         FSM_TIMER(1000);
 218                         act_vidle(VIDLE_MIDDLE, VIDLE_MEDIUM_SPEED);
 219                         break;
 220                 case EV_VIDLE_DONE:
 221                         FSM_TIMER(1000);
 222                         break;
 223                 case EV_TIMER:
 224                         FSM_TRANSITION(load_oranges2);
 225                         break;
 226                 case EV_MOTION_DONE:
 227                 case EV_START:
 228                 case EV_RETURN:
 229                 case EV_MOTION_ERROR:
 230                 case EV_SWITCH_STRATEGY:
 231                         DBG_PRINT_EVENT("unhandled event");
 232                 case EV_EXIT:
 233                         break;
 234         }
 235 }
 236
 237 FSM_STATE(load_oranges2)
 238 {
 239         switch(FSM_EVENT) {
 240                 case EV_ENTRY:
 241                         act_vidle(VIDLE_UP, VIDLE_MEDIUM_SPEED);
 242                         FSM_TIMER(1000);
 243                         break;
 244                 case EV_VIDLE_DONE:
 245                         FSM_TRANSITION(load_oranges3);
 246                         //SUBFSM_RET(NULL);
 247                         break;
 248                 case EV_TIMER:
 249                         FSM_TRANSITION(load_oranges3);
 250                         //SUBFSM_RET(NULL);
 251                         break;
 252                 case EV_MOTION_DONE:
 253                 case EV_START:
 254                 case EV_RETURN:
 255                 case EV_MOTION_ERROR:
 256                 case EV_SWITCH_STRATEGY:
 257                         DBG_PRINT_EVENT("unhandled event");
 258                 case EV_EXIT:
 259                         act_vidle(VIDLE_UP-1, VIDLE_FAST_SPEED);
 260                         break;
 261         }
 262 }
 263
 264 FSM_STATE(load_oranges3)
 265 {
 266         switch(FSM_EVENT) {
 267                 case EV_ENTRY:
 268                         act_vidle(VIDLE_MIDDLE+50, 0);
 269                         FSM_TIMER(500);
 270                         break;
 271                 case EV_VIDLE_DONE:
 272                         SUBFSM_RET(NULL);
 273                         break;
 274                 case EV_TIMER:
 275                         SUBFSM_RET(NULL);
 276                         break;
 277                 case EV_MOTION_DONE:
 278                 case EV_START:
 279                 case EV_RETURN:
 280                 case EV_MOTION_ERROR:
 281                 case EV_SWITCH_STRATEGY:
 282                         DBG_PRINT_EVENT("unhandled event");
 283                 case EV_EXIT:
 284                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 285                         break;
 286         }
 287 }
 288
 289 FSM_STATE(sledge_down)
 290 {
 291         struct TrajectoryConstraints tc;
 292         switch(FSM_EVENT) {
 293                 case EV_ENTRY:
 294                         tc = tcFast;
 295                         tc.maxe = 0.5;
 296                         robot_trajectory_new(&tc);
 297
 298                         if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_BOUNDARY) {
 299                                 robot_trajectory_add_point_trans(
 300                                         x_coord(1.2 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 301                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01);
 302                                 robot_trajectory_add_point_trans(
 303                                         x_coord(1.0 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 304                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.01);
 305                                 robot_trajectory_add_point_trans(
 306                                         x_coord(0.8 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 307                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.05);
 308                                 robot_trajectory_add_point_trans(
 309                                         x_coord(0.6 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 310                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.10);
 311                                 robot_trajectory_add_final_point_trans(
 312                                         x_coord(0.5 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 313                                         PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2) - 0.17,
 314                                         NO_TURN());
 315                         } else if (slope_approach_style_p->which_oranges == NEAR_PLAYGROUND_CENTER) {
 316                                 robot_trajectory_add_point_trans(
 317                                         x_coord(1 - ROBOT_AXIS_TO_BACK_M, slope_approach_style_p->which_side),
 318                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85));
 319                                 robot_trajectory_add_final_point_trans(
 320                                         x_coord(SLOPE_TO_RIM_M - ROBOT_AXIS_TO_BACK_M - 0.2, slope_approach_style_p->which_side),
 321                                         1.85 - (PLAYGROUND_HEIGHT_M - (ROBOT_WIDTH_M/2)+0.01 - 1.85),
 322                                         NO_TURN());
 323                         }
 324                         break;
 325                 case EV_MOTION_DONE:
 326                         /* just for sure, try to close it one more time */
 327                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 328                         SUBFSM_RET(NULL);
 329                         delete(slope_approach_style_p);
 330                         break;
 331                 case EV_START:
 332                 case EV_TIMER:
 333                 case EV_RETURN:
 334                 case EV_VIDLE_DONE:
 335                 case EV_MOTION_ERROR:
 336                 case EV_SWITCH_STRATEGY:
 337                         DBG_PRINT_EVENT("unhandled event");
 338                         break;
 339                 case EV_EXIT:
 340                         // enables using side switches on bumpers
 341                         enable_switches(true);
 342                         robot.ignore_hokuyo = false;
 343                         robot.check_turn_safety = true;
 344
 345                         break;
 346         }
 347 }
 348
 349 /************************************************************************
 350  * The "unload our oranges" subautomaton
 351  ************************************************************************/
 352
 353 FSM_STATE(to_cntainer_and_unld)
 354 {
 355         switch(FSM_EVENT) {
 356                 case EV_ENTRY:
 357                         robot_goto_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, ARRIVE_FROM(DEG2RAD(90),0.05), &tcFast);
 358                         break;
 359                 case EV_MOTION_DONE:
 360                         FSM_TIMER(3000); // FIXME: test this
 361                         act_vidle(VIDLE_DOWN, VIDLE_FAST_SPEED);
 362                         break;
 363                 case EV_TIMER:
 364                         act_vidle(VIDLE_UP, VIDLE_FAST_SPEED);
 365                         SUBFSM_RET(NULL);
 366                         break;
 367                 case EV_START:
 368                 case EV_RETURN:
 369                 case EV_VIDLE_DONE:
 370                 case EV_MOTION_ERROR:
 371                 case EV_SWITCH_STRATEGY:
 372                         DBG_PRINT_EVENT("unhandled event");
 373                 case EV_EXIT:
 374                         break;
 375         }
 376 }
 377
 378 /************************************************************************
 379  * The "collect corns" subautomaton
 380  ************************************************************************/
 381
 382 static enum where_to_go {
 383         CORN,
 384         TURN_AROUND,
 385         CONTAINER,
 386         NO_MORE_CORN
 387 } where_to_go = CORN;
 388
 389 static struct corn *corn_to_get;
 390
 391 FSM_STATE(rush_corns_decider)
 392 {
 393         switch(FSM_EVENT) {
 394                 case EV_ENTRY:
 395                         if (where_to_go == CORN) {
 396                                 FSM_TRANSITION(approach_next_corn);
 397                         } else if (where_to_go == CONTAINER) {
 398                                 FSM_TRANSITION(rush_the_corn);
 399                         } else if (where_to_go == TURN_AROUND) {
 400                                 FSM_TRANSITION(turn_around);
 401                         } else /* NO_MORE_CORN */ {
 402                         }
 403                         break;
 404                 case EV_START:
 405                 case EV_TIMER:
 406                 case EV_RETURN:
 407                 case EV_VIDLE_DONE:
 408                 case EV_MOTION_DONE:
 409                 case EV_MOTION_ERROR:
 410                 case EV_SWITCH_STRATEGY:
 411                         DBG_PRINT_EVENT("unhandled event");
 412                 case EV_EXIT:
 413                         break;
 414         }
 415 }
 416
 417 static int cnt = 0;
 418 FSM_STATE(approach_next_corn)
 419 {
 420         switch(FSM_EVENT) {
 421                 case EV_ENTRY: {
 422                                 double x, y, phi;
 423                                 robot_get_est_pos(&x, &y, &phi);
 424                                 printf("approach_next_corn: puck cnt: %d, est pos %.3f, %.3f, %.3f\n",
 425                                         cnt, x, y, phi);
 426
 427                                 corn_to_get = choose_next_corn();
 428                                 if (corn_to_get) {
 429                                         Pos *p = get_corn_approach_position(corn_to_get);
 430                                         corn_to_get->was_collected = true;
 431                                         robot_goto_trans(p->x, p->y, TURN(p->phi), &tcFast);
 432                                         delete(p);
 433                                         where_to_go = CONTAINER;
 434                                 } else {
 435                                         where_to_go = NO_MORE_CORN;
 436                                 }
 437                                 break;
 438                         }
 439                 case EV_MOTION_DONE:
 440                         cnt++;
 441                         FSM_TRANSITION(rush_corns_decider);
 442                         break;
 443                 case EV_START:
 444                 case EV_TIMER:
 445                 case EV_RETURN:
 446                 case EV_VIDLE_DONE:
 447                 case EV_MOTION_ERROR:
 448                 case EV_SWITCH_STRATEGY:
 449                         DBG_PRINT_EVENT("unhandled event");
 450                 case EV_EXIT:
 451                         break;
 452         }
 453 }
 454
 455 FSM_STATE(rush_the_corn)
 456 {
 457         switch(FSM_EVENT) {
 458                 case EV_ENTRY:
 459                         double x;
 460                         if (robot.team_color == BLUE) {
 461                                 x = corn_to_get->position.x;
 462                         } else {
 463                                 x = PLAYGROUND_WIDTH_M - corn_to_get->position.x;
 464                         }
 465                         remove_wall_around_corn(x, corn_to_get->position.y);
 466                         robot_goto_trans(PLAYGROUND_WIDTH_M - 0.4, 0.15, ARRIVE_FROM(DEG2RAD(-90), 0.02), &tcSlow);
 467                         where_to_go = TURN_AROUND;
 468                         break;
 469                 case EV_MOTION_DONE:
 470                         FSM_TRANSITION(rush_corns_decider);
 471                         break;
 472                 case EV_START:
 473                 case EV_TIMER:
 474                 case EV_RETURN:
 475                 case EV_VIDLE_DONE:
 476                 case EV_MOTION_ERROR:
 477                 case EV_SWITCH_STRATEGY:
 478                         DBG_PRINT_EVENT("unhandled event");
 479                 case EV_EXIT:
 480                         break;
 481         }
 482 }
 483
 484 // used to perform the maneuvre
 485 FSM_STATE(turn_around)
 486 {
 487         switch(FSM_EVENT) {
 488                 case EV_ENTRY:
 489                         robot_trajectory_new_backward(&tcFast);
 490                         robot_trajectory_add_final_point_trans(PLAYGROUND_WIDTH_M-0.35, 0.45, TURN_CCW(90));
 491                         break;
 492                 case EV_MOTION_DONE:
 493                         where_to_go = CORN;
 494                         FSM_TRANSITION(rush_corns_decider);
 495                         break;
 496                 case EV_START:
 497                 case EV_TIMER:
 498                 case EV_RETURN:
 499                 case EV_VIDLE_DONE:
 500                 case EV_MOTION_ERROR:
 501                 case EV_SWITCH_STRATEGY:
 502                         DBG_PRINT_EVENT("unhandled event");
 503                 case EV_EXIT:
 504                         break;
 505         }
 506 }